【正文】 Tutor：Ma shuhuaAbstractFujian Fuan City industry of electric motor and electrical equipment is the one of the most representative phenomenon of industry cluster in Fujian Province mechanical industry. Its output value of small and mediumsized electric machines accounts for 20% of the whole province’s electrical equipment industry. The output amount of small and mediumsized electric machines from this region takes up 1/3 of that of the whole nation. Fuan electric motor and electrical equipment industry plays a significant role in the development of local national economy, being considered to be the main growth point of local economy and called the Chinese electric motor and electrical equipment city .This paper launched a research on small and medium sized electric machines in Fuan city from two angles. The first one inferred the situation of Fuan electric machine industrial cluster as well as the analysis of the temporary existed problems, and then propose a few of suggestions on the part of local government. The second part focus on the improvement of the petitiveness of Fuan electric machine enterprises, through the application of Michael Porter39。 東北大學(xué)秦皇島分校畢業(yè)設(shè)計(jì)（論文） 第 I 頁基于飛思卡爾單片機(jī)的智能汽車設(shè)計(jì)摘 要本智能車系統(tǒng)設(shè)計(jì)以 MC9S12DG128B 微控制器為核心，通過一個(gè)CMOS 攝像頭檢測(cè)模型車的運(yùn)動(dòng)位置和運(yùn)動(dòng)方向，使用LM1881視頻分離芯片對(duì)圖像進(jìn)行處理，用光電傳感器檢測(cè)模型車的速度并使用PID 控制算法調(diào)節(jié)驅(qū)動(dòng)電機(jī)的轉(zhuǎn)速和舵機(jī)的方向，完成對(duì)模型車運(yùn)動(dòng)速度和運(yùn)動(dòng)方向的閉環(huán)控制。為了提高智能車的行駛速度和可靠性，采用了自制的電路板，在性能和重量上有了更大的優(yōu)勢(shì)，對(duì)比了各種方案的優(yōu)缺點(diǎn)。s Five Forces Model into the local industry of electric machine, consequently carried out some strategies local enterprises should take. Key Words: small and mediumsized electric machines, Five Forces Model, industrial cluster 東北大學(xué)秦皇島分校畢業(yè)設(shè)計(jì)（論文） 第 III 頁目 錄1 緒論 .......................................................................................................................................1 智能車競賽背景介紹 ..................................................1 智能車系統(tǒng)設(shè)計(jì)思路及方案分析 ........................................2 系統(tǒng)整體設(shè)計(jì)結(jié)構(gòu)圖 ..................................................32 機(jī)械結(jié)構(gòu)的調(diào)整與設(shè)計(jì) .......................................................................................................4 機(jī)械安裝結(jié)構(gòu)調(diào)整 ....................................................4 舵機(jī)安裝方式的調(diào)整 ..................................................4 攝像頭的安裝 ........................................................5 測(cè)速碼盤的安裝 ......................................................5 前輪傾角的調(diào)整 ......................................................6 地盤高度的調(diào)整 ......................................................7 齒輪傳動(dòng)機(jī)構(gòu)及后輪差速的調(diào)整 ........................................73 硬件電路的設(shè)計(jì)與實(shí)現(xiàn) .......................................................................................................8 硬件電路設(shè)計(jì)方案 ....................................................8 硬件電路的實(shí)現(xiàn) ......................................................8 以 S12 為核心的單片機(jī)最小系統(tǒng) ...........................................................................8 主板 .........................................................................................................................13 電機(jī)驅(qū)動(dòng)電路 .........................................................................................................18 攝像頭 .....................................................................................................................23 速度傳感器 .............................................................................................................24 加速度傳感器 .........................................................................................................24 去抖動(dòng)電路 .............................................................................................................254 軟件系統(tǒng)設(shè)計(jì)與實(shí)現(xiàn) .........................................................................................................28 軟件系統(tǒng)結(jié)構(gòu)方案選擇 ...............................................28 軟件主流程 .........................................................28 端口分配 ...........................................................29 底層驅(qū)動(dòng)程序設(shè)計(jì) ...................................................30 時(shí)鐘模塊 .................................................................................................................30 PWM 模塊 ..............................................................................................................31 外部中斷模塊 .........................................................................................................31 ECT 模塊 ................................................................................................................32 AD 模塊 ..................................................................................................................32 串口模塊 .................................................................................................................33 普通 IO 模塊 ..........................................................................................................33 實(shí)時(shí)中斷 ...............................................................................................................34 圖像信息處理及道路識(shí)別程序設(shè)計(jì) .....................................34 賽道提取算法 .......................................................................................................35 有一定抗干擾和抗反光能力的黑線提取算法 .....................................................37 東北大學(xué)秦皇島分校畢業(yè)設(shè)計(jì)（論文） 第 IV 頁 道路識(shí)別算法 .........................................................................................................39 起跑線識(shí)別程序設(shè)計(jì) .................................................40 車體控制程序設(shè)計(jì) ...................................................41 舵機(jī)控制算法 .........................................................................................................42 速度控制算法 .........................................................................................................43結(jié) 論 .................................